Migrate to New NumPy Random Number Generator (RNG) API

[seanlaw]

See NumPy Reference

Currently, STUMPY still uses the legacy way of drawing random numbers. We should migrate to the new Generator.

This should include updating:

1. All code
2. All unit tests
3. All docstrings
4. All examples
5. All tutorials
6. All README

This issue is the precursor for #707

[seanlaw]

It will be challenging to recreate/match the tests with a preset random seed (namely, in tests/test_precision.py)